检索结果-内蒙古大学图书馆

The First Five Years of a Phase Theory for Complex systems and Networks

IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1728-1743页

作者： Dan Wang Wei Chen Li Qiu Division of Decision and Control Systems KTH Royal Institute of TechnologyStockholm 10044Sweden Department of Mechanics and Engineering Science&the State Key Laboratory for Turbulence and Complex Systems Peking UniversityBeijing 100871China Hong Kong University of Science and Technology Hong KongChinaand also with the Southern University of Science and TechnologyShenzhen 518055China

In this paper,we review the development of a phase theory for systems and networks in its first five years,represented by a trilogy:Matrix phases and their properties;The MIMO LTI system phase response,its physical interpretations,the small phase theorem,and the sectored real lemma;The synchronization of a multi-agent network using phase *** the end,we also summarize a list of ongoing research on the phase theory and speculate what will happen in the next five years.

关键词： Consensus and synchronization matrix phases multi-agent systems phase theory sectored real lemma small phase theorem.

来源：评论

学校读者我要写书评

暂无评论

Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual

引用

Tsinghua Science and technology 2024年第1期29卷 244-256页

作者： Wenjie Geng Zhiqiang Cao Peiyu Guan Fengshui Jing Min Tan Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Grasp detection plays a critical role for robot *** pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and ***,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are *** is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains ***,the channel information in high-level feature is also not well ***,the performance of grasp detection is *** solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle *** low-level and high-level features in the encoder are firstly fused by the designed skip connections with attention module,and the fused information is then propagated to corresponding layers of the decoder for in-depth feature *** a hierarchical fusion guarantees the quality of grasp ***,an inverted shuffle residual module is created,where the high-level feature from encoder is split in channel and the resultant split features are processed in their respective *** such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the ***,an information enhancement module is added before the encoder to reinforce input *** proposed method attains 98.9%and 97.8%in image-wise and object-wise accuracy on the Cornell grasping dataset,respectively,and the experimental results verify the effectiveness of the method.

关键词： grasp detection hierarchical multi-scale feature fusion skip connections with attention inverted shuffle residual

来源：评论

学校读者我要写书评

暂无评论

Inchworm-Like Soft Robot with Anisotropic Magnetization for Untethered Crawling and Manipulating

Inchworm-Like Soft Robot with Anisotropic Magnetization for ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Shishi Li Ruixuan Li Jinrong Wang Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Inchworm-like robots have shown promise in achieving multimodal movements, yet the integration of un-tethered locomotion and manipulation capabilities remains a persistent challenge in soft robotics. This paper presents a novel soft robot that addresses this challenge through an anisotropic magnetization distribution, achieved via 3D printing, enabling precise control over its three-dimensional structure and magnetic properties. This unique design allows for magnetic field-controlled locomotion with asymmetric time-varying postures, achieving a maximum stride length of 9.2 mm under an 80 mT field. The robot employs active friction manipulation between its feet, enabling an inchworm-like gait with alternating forefoot and rearfoot fixation. Additionally, the specific magnetization design permits independent control of grippers under the same magnetic field, facilitating complex manipulation tasks. The robot's potential in biomedical applications is demonstrated through a multi-region targeted drug delivery experiment. This integrated locomotion and manipulation platform shows promise for applications in confined spaces and represents a step forward in expanding the capabilities of soft robots for potential medical and industrial tasks.

关键词： Targeted drug delivery Service robots Magnetization Magnetic confinement Friction Soft robotics Three-dimensional printing Magnetic fields Grippers Perpendicular magnetic anisotropy

来源：评论

学校读者我要写书评

暂无评论

Real-Time Break-Through Detection in Craniotomy Using Long Short-Term Memory Networks

Real-Time Break-Through Detection in Craniotomy Using Long S...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yunle Chen Xingjian Shen Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

An important step before the implantation of an invasive brain-computer interface (BCI) is craniotomy, which provides direct access to the brain. During the craniotomy, the precision of cranial drilling is critical, as any deviation or exces-sive penetration can pose significant risks, potentially leading to severe brain injury. Traditional methods of force signal analysis lack effective feedback in complex situations, leading to a risk of over-drilling and potential brain damage. Here, we proposes a Long Short-Term Memory (LSTM) neural network to detect the break-through of the drill bit in real-time. Thrust force data from five drilling experiments on a fancy rat skull specimen are collected. The force data are then split into 0.2-second intervals corresponding to different stages of the drilling process. An LSTM network is trained with these labeled datasets to detect changes in the drilling stage, thereby determining the break-through point. The trained classicfication network gets a accuracy of 96%. Practical drilling experiments on a fancy rat skull specimen validates the feasibility and accuracy of the break-through detection algorithm. The experimental results demonstrate that the method can achieve an over-penetration distance within 15 μm, which is safe for performing craniotomy in rats. Given that this method ensures safety for the stringent requirements of rat craniotomy, it can be expected to provide even greater safety for human craniotomy procedures.

关键词： Drilling Accuracy Force Rats Skull Real-time systems Safety Classification algorithms Long short term memory Biological neural networks

来源：评论

学校读者我要写书评

暂无评论

Image Matters: A New Dataset and Empirical Study for Multimodal Hyperbole Detection 30

Image Matters: A New Dataset and Empirical Study for Multimo...

引用

Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Zhang, Huixuan Wan, Xiaojun Wangxuan Institute of Computer Technology Peking University State Key Laboratory of Media Convergence Production Technology and Systems China

ISBN: (纸本)9782493814104

Hyperbole, or exaggeration, is a common linguistic phenomenon. The detection of hyperbole is an important part of understanding human expression. There have been several studies on hyperbole detection, but most of which focus on text modality only. However, with the development of social media, people can create hyperbolic expressions with various modalities, including text, images, videos, etc. In this paper, we focus on multimodal hyperbole detection. We create a multimodal detection dataset from Weibo (a Chinese social media) and carry out some studies on it. We treat the text and image from a piece of weibo as two modalities and explore the role of text and image for hyperbole detection. Different pre-trained multimodal encoders are also evaluated on this downstream task to show their performance. Besides, since this dataset is constructed from five different keywords, we also evaluate the cross-domain performance of different models. These studies can serve as a benchmark and point out the direction of further study on multimodal hyperbole detection. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Social networking (online)

来源：评论

学校读者我要写书评

暂无评论

Is Summary Useful or Not? An Extrinsic Human Evaluation of Text Summaries on Downstream Tasks 30

Is Summary Useful or Not? An Extrinsic Human Evaluation of T...

引用

Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Pu, Xiao Gao, Mingqi Wan, Xiaojun Wangxuan Institute of Computer Technology Peking University State Key Laboratory of Media Convergence Production Technology and Systems China

ISBN: (纸本)9782493814104

Research on automated text summarization typically uses human and automatic evaluation methods. While most recent studies focus on intrinsic evaluation, which assesses the general quality of summaries, e.g. coherence and informativeness, we concentrate on task-based extrinsic evaluation to determine the usefulness of summaries. We incorporate three downstream tasks, namely question answering, text classification, and text similarity assessment, and measure the usefulness of summaries for these tasks by several metrics. Our findings reveal that summaries are generally useful in tasks that require a comprehensive grasp of the text but are less useful in tasks requiring a more specific understanding of the text. We also analyze the usefulness and inherent properties of summaries from different models, and find that fine-tuned models consistently produce more useful summaries across all three tasks. In contrast, zero-shot models tend to lean towards text classification and similarity assessment, providing more general and less detailed summaries. Additionally, we assess the correlation between 14 intrinsic automatic metrics and human judgments. Intrinsic metrics perform well in evaluating summaries for question answering but are less effective in the other two tasks. This highlights the limitations of relying solely on intrinsic metrics for assessing summary performance and usefulness. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Quality control

来源：评论

学校读者我要写书评

暂无评论

Deep Learning-Enhanced Super-Resolution Ultrasound for Efficient Brain Vascular Mapping

Deep Learning-Enhanced Super-Resolution Ultrasound for Effic...

引用

IEEE International Conference on robotics and Biomimetics

作者： Andi Sun Xingjian Shen Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Robotic implantation of neural electrodes for in-vasive brain-computer interface(BCI) requires precise vascular mapping to avoid major blood vessels. While super-resolution ultrasound imaging offers superior resolution compared to traditional methods, it typically requires probes with numer-ous elements, demanding substantial hardware resources. This paper presents a novel approach combining deep learning with reduced-element probes for high-resolution vascular imaging. The proposed method employs a transformer-based neural network to accurately localize high-density microbubbles while reducing the required number of probe elements. Simulations reveal that a 32-element linear probe with deep learning outper-forms a 64-element probe using 2D normalized cross-correlation for microbubble concentrations below 1.95 microbubbles/mm2. The overall localization precision and Jaccard index demon-strate superior performance of the deep learning approach, particularly at lower microbubble densities. In vivo experiments on a mouse brain model using a 64-element probe (15 MHz) and deep learning achieved vascular network reconstruction with 21 um resolution, distinguishing vessels 26 um apart. This technique significantly lowers the hardware requirements for constructing high-resolution vascular networks, thereby providing detailed cerebrovascular distribution maps. These maps have the potential to enable more precise planning and safer execution of neural electrode implantation for BCI research, while reducing overall system complexity.

关键词： Deep learning Electrodes Location awareness In vivo Ultrasonic imaging Superresolution Hardware Probes Image reconstruction Robots

来源：评论

学校读者我要写书评

暂无评论

Parsing Objects at a Finer Granularity: A Survey

引用

Machine Intelligence Research 2024年第3期21卷 431-451页

作者： Yifan Zhao Jia Li Yonghong Tian School of Computer Science Peking UniversityBeijing100871China State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing100191China

Fine-grained visual parsing, including fine-grained part segmentation and fine-grained object recognition, has attracted considerable critical attention due to its importance in many real-world applications, e.g., agriculture, remote sensing, and space technologies. Predominant research efforts tackle these fine-grained sub-tasks following different paradigms, while the inherent relations between these tasks are neglected. Moreover, given most of the research remains fragmented, we conduct an in-depth study of the advanced work from a new perspective of learning the part relationship. In this perspective, we first consolidate recent research and benchmark syntheses with new taxonomies. Based on this consolidation, we revisit the universal challenges in fine-grained part segmentation and recognition tasks and propose new solutions by part relationship learning for these important challenges. Furthermore, we conclude several promising lines of research in fine-grained visual parsing for future research.

关键词： Finer granularity visual parsing part segmentation fine-grained object recognition part relationship

来源：评论

学校读者我要写书评

暂无评论

Performance Analysis of 4-RPUR Parallel Mechanism for Ankle Rehabilitation

Performance Analysis of 4-RPUR Parallel Mechanism for Ankle ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Hongjian Yu Zijia Guo Zhenyi Wang Sheji Sun Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Four-degrees-of-freedom (4-DoFs) ankle fracture surgery assistant and rehabilitation robot based on 4-RPUR was developed to help the patients recover movement ability of the ankle. Furthermore, to evaluate the performance of the robot, we use a spatial search method to calculate and depict the workspace images, and analyze the sensitivity of the workspace to different parameters; based on screw theory, a singularity evaluation indicator is proposed, and singularity images are drawn; the robot is subjected to stiffness modeling, constructing a stiffness matrix for the mechanism and establishing stiffness evaluation indicators, and creating performance spectra, with further analysis and discussion on the physical variation rules and physical meanings of the spectra.

关键词： Ankle Analytical models Sensitivity Systematics Mechatronics Search methods Surgery

来源：评论

学校读者我要写书评

暂无评论

A Modular Robotic System for Tibial Fracture Reduction and Rehabilitation with Vibrational Stimuli Generation

A Modular Robotic System for Tibial Fracture Reduction and R...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zhenyi Wang Hongjian Yu Zijia Guo Xiangyu Shen Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper introduces a modular robotic system aimed at tibial fracture reduction and rehabilitation with vibrational stimuli generation. With the development of the economy and the diversification of entertainment, the incidence of traumatic orthopedics is increasing, especially tibial shaft fractures rank first among lower limb fracture types. Compared to traditional manual techniques by physicians, robot-assisted reduction surgery offers higher precision and reduces the risk of physician exposure to X-ray radiation. Studies have shown that mechanical stimuli help promote trabecular bone growth, resulting in stronger postoperative calluses. However, vibration has not yet been applied to fracture rehabilitation in reduction medical devices. Therefore, this article innovatively designs a modular robotic system capable of both reduction operations and vibrational stimulation, aiming to achieve the integration of reduction and rehabilitation of tibial fractures.

关键词： Vibrations Analytical models Dynamics Surgery Medical services Kinematics Motors

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：